version: 66.04
glider: 165
mission: 2
dive: 83
start: 6 2 109 2 18 55
data:
$ID,165
$MISSION,2
$DIVE,83
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52067
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,435
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118494.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.66094
$PRESSURE_SLOPE,0.000116182
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043383995
$SEABIRD_T_H,0.00062454981
$SEABIRD_T_I,2.3067754e-05
$SEABIRD_T_J,2.3616824e-06
$SEABIRD_C_G,-9.9113674
$SEABIRD_C_H,1.100266
$SEABIRD_C_I,0.0005534364
$SEABIRD_C_J,6.0498875e-05
$GPS1,021324,2522.407,12237.081,37,1.5,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-70.5
$GPS2,021849,2522.619,12237.255,9,1.8,9,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,154.5,40889,-18.3,-12.000
$D_GRID,678
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.96,-194.7,0.0,0.0,0,59,0.00,0.00,-46.00,0.000,2,0.000,0.000,162,2080,2096
$GC,61,-0.96,-194.7,3.2,-4.6,7,118,9.07,2.25,-42.90,0.000,4,0.236,0.067,2497,3482,3553
$GC,139,-0.14,-194.7,16.4,-33.1,20,146,0.85,2.22,0.00,0.000,6,0.150,0.043,2766,2058,3554
$GC,465,-0.61,-194.7,45.8,-5.3,81,473,0.38,2.28,0.00,0.000,4,0.041,0.057,2590,3468,3557
$GC,600,-0.26,-194.7,74.5,-23.1,106,607,0.40,2.12,0.00,0.000,6,0.127,0.038,2729,2090,3557
$GC,927,-1.01,-194.7,103.3,-10.1,167,934,0.62,2.20,0.00,0.000,4,0.056,0.059,2480,3487,3559
$GC,1029,-0.51,-194.7,122.3,-22.5,186,1036,0.50,2.08,0.00,0.000,6,0.140,0.036,2646,2127,3559
$GC,1356,-0.70,-194.7,161.8,-8.9,247,1362,0.15,2.15,0.00,0.000,4,0.064,0.061,2568,3467,3560
$GC,1399,-0.62,-194.7,167.3,-13.0,255,1406,0.12,2.00,0.00,0.000,6,0.127,0.035,2613,2150,3560
$GC,1725,-0.62,-194.7,207.5,-11.8,316,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2144,3561
$GC,2045,-0.70,-194.7,239.0,-10.4,376,2053,0.00,2.30,0.00,0.000,4,0.000,0.051,2613,676,3561
$GC,2073,-0.80,-194.7,242.0,-11.5,381,2080,0.10,2.28,0.00,0.000,6,0.065,0.043,2547,2136,3561
$GC,2399,-0.61,-194.7,295.2,-16.9,442,2406,0.25,2.30,0.00,0.000,4,0.138,0.051,2625,670,3561
$GC,2463,-0.89,-194.7,302.1,-8.6,452,2468,0.20,2.25,0.00,0.000,6,0.042,0.043,2512,2114,3561
$GC,2784,-0.59,-194.7,360.7,-19.2,483,2789,0.38,2.25,0.00,0.000,4,0.143,0.051,2630,661,3561
$GC,2827,-0.87,-194.7,366.1,-10.3,487,2831,0.20,2.28,0.00,0.000,6,0.042,0.044,2504,2120,3560
$GC,3147,-0.62,-194.7,416.2,-17.4,518,3149,0.35,0.00,0.00,0.000,6,0.137,0.000,2614,2120,3560
$GC,3459,-0.94,-194.7,440.0,-7.9,548,3462,0.28,2.15,0.00,0.000,4,0.050,0.063,2485,3486,3560
$GC,3533,-0.73,-194.7,449.8,-14.0,555,3538,0.28,2.10,0.00,0.000,6,0.139,0.040,2578,2119,3559
$GC,3853,-0.88,-194.7,480.6,-9.5,586,3854,0.12,0.00,0.00,0.000,6,0.073,0.000,2518,2115,3558
$GC,4161,-0.78,-194.7,524.8,-14.1,608,4162,0.17,0.00,0.00,0.000,6,0.143,0.000,2570,2115,3555
$GC,4466,-0.91,-194.7,554.5,-9.2,623,4470,0.12,2.20,0.00,0.000,4,0.074,0.067,2508,3469,3553
$GC,4497,-0.83,-194.7,558.1,-12.3,624,4503,0.10,2.10,0.00,0.000,6,0.143,0.041,2544,2108,3552
$GC,4814,-0.83,-194.7,591.5,-10.5,640,4818,0.00,2.22,0.00,0.000,4,0.000,0.066,2536,3471,3551
$GC,4856,-0.90,-194.7,596.0,-11.2,642,4860,0.00,2.10,0.00,0.000,6,0.000,0.041,2536,2117,3550
$GC,5183,-0.90,-194.7,632.8,-11.5,658,5186,0.00,2.28,0.00,0.000,4,0.000,0.058,2536,666,3548
$GC,5230,-0.90,-194.7,638.4,-11.4,660,5234,0.00,2.30,0.00,0.000,6,0.000,0.049,2535,2115,3547
$GC,5551,-0.90,-194.7,673.8,-10.8,676,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2115,3545
$STATE,5590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5590,begin apogee
$GC,5594,-0.20,0.0,678.3,11.0,678,5747,0.65,0.00,151.52,1.143,6,0.123,0.000,2754,2525,2759
$STATE,5748,end apogee,CONTROL_FINISHED_OK
$STATE,5748,begin climb
$GC,5749,0.96,194.7,684.6,0.0,685,5913,1.00,2.42,155.60,1.105,4,0.051,0.054,3142,1128,1963
$GC,5950,0.42,194.7,663.4,21.1,694,5954,0.62,2.35,0.00,0.000,6,0.173,0.051,2962,2515,1960
$GC,6265,0.45,221.8,627.7,10.9,710,6290,0.00,0.00,23.02,1.049,6,0.000,0.000,2962,2516,1853
$GC,6591,0.56,260.5,592.9,10.4,726,6625,0.12,0.00,32.70,1.058,6,0.074,0.000,3016,2516,1695
$GC,6917,0.45,260.5,544.8,15.2,742,6921,0.17,1.90,0.00,0.000,4,0.150,0.065,2967,3684,1689
$GC,6990,0.50,260.5,535.1,12.5,745,6995,0.00,1.85,0.00,0.000,6,0.000,0.041,2975,2513,1688
$GC,7306,0.56,269.6,499.5,11.6,761,7320,0.00,1.98,7.68,0.905,4,0.000,0.064,2975,3696,1659
$GC,7350,0.56,269.6,494.0,12.6,765,7355,0.00,1.83,0.00,0.000,6,0.000,0.041,2983,2525,1659
$GC,7672,0.58,285.9,456.3,11.3,796,7693,0.00,0.00,15.05,0.975,6,0.000,0.000,2983,2523,1591
$GC,8001,0.65,285.9,412.7,13.2,828,8005,0.12,1.90,0.00,0.000,4,0.081,0.064,3035,3695,1590
$GC,8076,0.43,285.9,398.6,20.1,835,8080,0.25,1.80,0.00,0.000,6,0.143,0.040,2963,2536,1589
$GC,8396,0.74,381.6,366.7,8.0,866,8486,0.25,2.38,79.53,0.943,4,0.056,0.051,3080,1129,1201
$GC,8500,0.56,381.6,350.4,19.2,875,8507,0.25,2.30,0.00,0.000,6,0.152,0.046,3003,2510,1200
$GC,8816,0.70,381.6,305.8,13.6,906,8820,0.12,2.22,0.00,0.000,4,0.076,0.050,3069,1129,1196
$GC,8907,0.61,381.6,289.3,20.0,919,8913,0.15,2.17,0.00,0.000,6,0.146,0.046,3020,2487,1193
$GC,9233,0.71,381.6,235.0,14.2,980,9239,0.00,2.20,0.00,0.000,4,0.000,0.050,3029,1119,1193
$GC,9264,0.83,381.6,230.6,13.8,986,9272,0.12,2.12,0.00,0.000,6,0.054,0.045,3100,2450,1191
$GC,9591,0.64,381.6,161.1,19.5,1047,9598,0.25,1.95,0.00,0.000,4,0.149,0.059,3026,3675,1191
$GC,9677,0.74,381.6,148.2,13.7,1063,9684,0.00,1.90,0.00,0.000,6,0.000,0.039,3035,2441,1191
$GC,10003,0.84,381.6,106.1,12.7,1124,10010,0.15,1.98,0.00,0.000,4,0.065,0.057,3106,3674,1191
$GC,10133,0.75,381.6,80.9,17.4,1148,10139,0.17,1.85,0.00,0.000,6,0.137,0.038,3056,2461,1191
$GC,10459,1.09,446.7,48.2,9.3,1209,10518,0.30,2.12,51.47,0.675,4,0.048,0.047,3198,1111,936
$GC,10544,0.90,446.7,33.2,19.8,1223,10551,0.28,2.17,0.00,0.000,6,0.146,0.041,3111,2469,933
$STATE,10767,end climb,SURFACE_DEPTH_REACHED
$STATE,10767,begin surface coast
$FINISH,1.6,1.009176
$STATE,10789,end surface coast,CONTROL_FINISHED_OK
$STATE,10789,begin surface
$SM_CCo,10862,0.00,0.000,0,0,930,448.65
$SM_GC,2.39,7.50,0.00,0.00,0.034,0.000,0.000,166,2039,930,-8.22,-0.90,448.65
$IRIDIUM_FIX,2515.12,12233.94,260898,232345
$TT8_MAMPS,0.048321
$HUMID,1588
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.50
$XPDR_PINGS,96
$ALTIM_BOTTOM_PING,651.6,62.9
$24V_AH,24.1,19.007
$10V_AH,10.7,14.510
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.150,91.125,516.575,0.000,0.000,31.409,38.670,170.148,29.500,0.000,0.000,11.070,0.000,7322.779,626.603,2831.072,387.235,0.000,1668.566,0.000,2397.143,0.000,41.331,0.000
$DEVICE_MAMPS,236.236,67.496,1142.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,857.849,933.885,1524.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72743,1269
$CAP_FILE_SIZE,126721,0
$CFSIZE,260165632,251625472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226, 40.4,1
$GPS,020609,052046,2522.057,12239.147,11,2.8,30,-3.7